设置电机位置以及获取电机当前状态回执

main/main.c

@@ -73,12 +73,39 @@ bleuart_t ble_uart_init_struct = {
 };
 motor_t ble_uart_motor_structer = {.uartNum = UART_NUM_1};
 
+void order_receipt_setPosition(int index, uint8_t setPosition_code) {
+  uint8_t buffer[256] = {0};
+
+  ESP_LOGI(MAIN_LOG_TAG, "Command setPosition execution complete!");
+
+  if (setPosition_code == 0) {
+    sprintf((char *)buffer, "{ \"order\": \"receipt\", \"code\": %d, \"info\": \"success\", \"index\": %d }", setPosition_code, index);
+    bleuart_notify_send(buffer, strlen((char *)buffer));
+  } else {
+    sprintf((char *)buffer, "{ \"order\": \"receipt\", \"code\": %d, \"info\": \"error\", \"index\": %d }", setPosition_code, index);
+    bleuart_notify_send(buffer, strlen((char *)buffer));
+  }
+}
+
+void order_receipt_getStatus(int index) {
+  ESP_LOGI(MAIN_LOG_TAG, "Command getStatus execution complete!");
+  uint8_t buffer[256] = {0};
+  double motor_position = motor_get_position_degree();
+
+  sprintf((char *)buffer,
+          "{ \"order\": \"receipt\", \"index\": %d, \"deviceState\": \"running\", \"deviceException\": 0, \"deviceExceptionInfo\": "
+          ", \"position\":%lf }",
+          index, motor_position);
+  bleuart_notify_send(buffer, strlen((char *)buffer));
+}
+
 void process_setPosition(cJSON *rxjson) {
   // { "order": "setPosition", "ble_uart_index": 0, "speedLevel": 1, "position": 120.3, "direction": 0 }
   int index = 0;
   int speedLevel = 0;
   float position = 0;
   int direction = 0;
+  uint8_t setPosition_code;
   if (cJSON_IsNumber(cJSON_GetObjectItem(rxjson, "position"))) {
     position = cJSON_GetObjectItem(rxjson, "position")->valuedouble;
   }
@@ -92,7 +119,16 @@ void process_setPosition(cJSON *rxjson) {
   if (cJSON_IsNumber(cJSON_GetObjectItem(rxjson, "direction"))) {
     direction = cJSON_GetNumberValue(cJSON_GetObjectItem(rxjson, "direction"));
   }
-  motor_run_to_postion(1, position, 0);
+  setPosition_code = motor_run_to_postion(1, position, 0);
+  order_receipt_setPosition(index, setPosition_code);
+}
+
+void process_getStatus(cJSON *rxjson) {
+  int index = 0;
+  if (cJSON_IsNumber(cJSON_GetObjectItem(rxjson, "index"))) {
+    index = cJSON_GetNumberValue(cJSON_GetObjectItem(rxjson, "index"));
+  }
+  order_receipt_getStatus(index);
 }
 
 void processrxjson(cJSON *rxjson) {
@@ -106,6 +142,7 @@ void processrxjson(cJSON *rxjson) {
     process_setPosition(rxjson);
 
   } else if (strcmp(order, "getStatus") == 0) {
+    process_getStatus(rxjson);
   }
 }
 

main/motor_drive.c

@@ -109,7 +109,7 @@ double motor_get_position_degree() {
 /**
  * @brief 电机转到多少度
  */
-void motor_run_to_postion(int rotation_direction, double position, int speed_level) {
+uint8_t motor_run_to_postion(int rotation_direction, double position, int speed_level) {
   int position_int = 0;
   uint8_t position_remainder = 0;
   uint8_t position_buffer_size = 6;  //从第五位开始(低位)
@@ -177,7 +177,7 @@ void motor_run_to_postion(int rotation_direction, double position, int speed_lev
   if (position_buffer_size != 13 || buffer[0] != 0X3E) {
     ESP_LOGW(MOTOR_DRIVE, "set motor size error ,buffer_size:%d,buffer[0] = 0X%x", position_buffer_size, buffer[0]);
     // bluetooth_active_notify((uint8_t *)notify_err, strlen(notify_err));
-    return;
+    return 1;
   }
 
   motor_position = position;
@@ -185,7 +185,7 @@ void motor_run_to_postion(int rotation_direction, double position, int speed_lev
 
   // Parse receive
   //   motor_drive_buffer_cmd_parse(buffer);
-  return;
+  return 0;
 }
 
 /**

main/motor_drive.h

@@ -14,7 +14,7 @@ typedef void (*motor_on_event_t)(motor_event_t event);
 void motor_init(motor_t* motor);
 void motor_set_zero_point();
 double motor_get_position_degree();
-void motor_run_to_postion(int rotation_direction, double position, int speed_level);
+uint8_t motor_run_to_postion(int rotation_direction, double position, int speed_level);
 void motor_reg_event_cb(motor_on_event_t onevent);
 
 void motor_module_schedule();